OmniVIL-Calib: 全向相机-IMU-激光雷达联合标定

Overview / 项目概览

OmniVIL-Calib is a target-free, mapping-free framework for joint spatiotemporal calibration of omnidirectional camera, IMU, and LiDAR systems.

OmniVIL-Calib 是一个无需标定板、无需地图的全向相机、IMU、激光雷达联合时空标定框架。

Key Features / 主要特性

• Target-free / 无需标定板: Calibrate without checkerboards or specific targets.
• Mapping-free / 无需地图: No prior 3D maps or SfM subgraphs required.
• Continuous-time Optimization / 连续时间优化: Based on B-spline for asynchronous sensor fusion.
• Omni-specific / 全向相机专用: Specialized motion-flow model for FOV > 180°.

Publication / 论文发表

Published in IEEE Robotics and Automation Letters (RA-L), April 2026.

[Paper] [Code]